(In this manner, surrendering unto me)
nirmAna mOhA: – having relieved from the confusion of dhEhAthmAbhimAnam (considering body as the self)
jitha sanga dhOshA: – having overcome the attachment towards worldly objects which are with the three qualities
adhyAthma nithyA: – being focussed on AthmagyAnam (knowledge about self) always
vinivruththa kAmA: – being relieved from desire towards everything else [other than spiritual matters]
sukha dhu:kha samgyai: dhvandhvai: – from the pair of joy and sorrow
vimukthA: – being relieved
amUdA: – being relieved from all misunderstandings (on dhEhAthmAbhimAnam)
avyayam – the state of knowledge where there is no gradation (superior, inferior)
thath padham – the state of truly realised self
gachchanthi – attains

(In this manner, surrendering unto me) One attains the state of truly realised self where there is no gradation (superior, inferior) of knowledge by having relieved from the confusion of dhEhAthmAbhimAnam (considering body as the self), having overcome the attachment towards worldly objects which are with the three qualities, being focussed on AthmagyAnam (knowledge about self) always , being relieved from desire towards everything else [other than spiritual matters], being relieved from the pair of joy and sorrow and being relieved from all misunderstandings (on dhEhAthmAbhimAnam).

Rendering based on ALkoNdavilli gOvindhAchArya swAmy’s English translation of gIthA bhAshyam

‘That enduring state, only those enlightened reach, who are rid of love for non-self;— those victors over the evils of attachment;— the soul-absorbed;— the weaned from lusts;— the freed from the ‘pairs’ of joys and griefs;—’

Attaining to Me as their Shelter or Saviour, they become rid of such illusions as the love of non-self (or non-soul).

The evils of attachment are those of attachment to Guṇa-impregnate enjoyments. They conquer this.

Adhyātma-nityāḥ: adhyātma is soul-knowledge; whoso are engrossed in that knowledge are the soul-absorbed.

Lust-weaned=Those from whom all other appetites save the one for soul alone, have departed.

And they become delivered from the ‘pairs of opposites’ characterized as joys and griefs.

Enlightened=Ripe in the wisdom discriminating between soul-nature and non-soul nature.

Avyayam padam=Enduring state: is the realization of the true nature of ātma, in its unbounded-intelligence-characterized state (or infinitely expanded consciousness).

To those who claim Me as their Saviour (or Protector), all the several stages of the aforesaid (spiritual) character forming are effected through My sole agency. Those states are easily traversed through till perfection (or the goal) is reached.